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Net Loss Per Share - Schedule of Earnings Per Share, Basic and Diluted (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Sep. 30, 2022
Sep. 30, 2021
Earnings Per Share [Abstract]                  
Net loss $ (18,371) $ (21,037) $ (21,171) $ (15,849) $ (17,528) $ (12,715) $ (15,849) $ (60,579) $ (46,092)
Net loss attributable to ordinary shareholders - basic (18,371)           (15,849) (60,579) (46,092)
Net loss attributable to ordinary shareholders - diluted $ (18,371)           $ (15,849) $ (60,579) $ (46,092)
Weighted average ordinary shares outstanding - basic (in shares) 42,525,855     41,708,220     41,708,220 42,377,895 39,378,824
Weighted average ordinary shares outstanding - diluted (in shares) 42,525,855     41,708,220     41,708,220 42,377,895 39,378,824
Net loss per share - basic (in dollars per share) $ (0.43)     $ (0.38)     $ (0.38) $ (1.43) $ (1.17)
Net loss per share - diluted (in dollars per share) $ (0.43)     $ (0.38)     $ (0.38) $ (1.43) $ (1.17)